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 * Author: Eitan Marder-Eppstein
 *********************************************************************/
#ifndef COSTMAP_2D_COST_VALUES_H_
#define COSTMAP_2D_COST_VALUES_H_

#include <cstdint>
//#define SEMANTIC

/** Provides a mapping for often used cost values */
namespace costmap_2d
{
static const unsigned char NO_INFORMATION = 255;              // 没有信息
static const unsigned char LETHAL_OBSTACLE = 254;             // 致命障碍
static const unsigned char INSCRIBED_INFLATED_OBSTACLE = 253; // 内接外切障碍物
static const unsigned char FREE_SPACE = 0;                    // 自由区域

#ifdef SEMANTIC
// xju cost & inflation option values
static const uint8_t XJU_COST_NO_INFORMATION = 31;             // 没有信息
static const uint8_t XJU_COST_LETHAL_OBSTACLE = 30;            // 致命障碍
static const uint8_t XJU_COST_INSCRIBED_INFLATED_OBSTACLE = 29;// 内接外切障碍物
static const uint8_t XJU_COST_FREE_SPACE = 0;                  // 自由区域

static const uint8_t XJU_OPTION_INIT = 0;  // 初始化
static const uint8_t XJU_OPTION_NONE = 1;  // 空
static const uint8_t XJU_OPTION_LESS = 2;  // 较少
static const uint8_t XJU_OPTION_NORM = 3;  // 正常的
static const uint8_t XJU_OPTION_MORE = 4;  // 更多的

typedef struct
{
    uint8_t cost : 5;
    uint8_t option : 3;
} xju_grid_t;

static inline unsigned char toOri(uint8_t cost, uint8_t option)
{
    return static_cast<unsigned char>((cost & 0x1F) | (option << 5));
}

static inline unsigned char toOri(xju_grid_t grid)
{
    return toOri(grid.cost, grid.option);
}

static inline xju_grid_t toXJUgrid(unsigned char ori)
{
    return *(xju_grid_t *) &ori;
}

static inline xju_grid_t toXJUgrid(uint8_t cost, uint8_t option)
{
    return toXJUgrid(toOri(cost, option));
}

static inline unsigned char toXJUcost(unsigned char ori)
{
    return toXJUgrid(ori).cost;
}

static inline unsigned char toXJUoption(unsigned char ori)
{
    return toXJUgrid(ori).option;
}

static inline void setXJUcost(unsigned char &ori, uint8_t cost)
{
    ori = (ori & 0xE0) | (cost & 0x1F);
}

static inline void setXJUoption(unsigned char &ori, uint8_t option)
{
    ori = static_cast<unsigned char>((ori & 0x1F) | (option << 5));
}

static inline void setXJUgrid(unsigned char &ori, xju_grid_t grid, bool none_obs_option = false)
{
    setXJUcost(ori, grid.cost);
    if (!none_obs_option && grid.cost != XJU_COST_LETHAL_OBSTACLE) return;
    setXJUoption(ori, grid.option);
}

static inline void setXJUgrid(unsigned char &ori, uint8_t cost, uint8_t option, bool none_obs_option = false)
{
    setXJUgrid(ori, toXJUgrid(cost, option), none_obs_option);
}
#endif
}

#endif  // COSTMAP_2D_COST_VALUES_H_
